CN102184542A - Stereo matching method for stereo binocular vision measurement - Google Patents
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Abstract
The invention discloses a stereo matching method for stereo binocular vision measurement. The method comprises the following steps of: after projecting a Gray code coding picture with the least period T =16, acquiring the Gray code coding picture by using a left camera and a right camera; respectively computing the Gray code values of all pixels in a left picture and a right picture; generating a sine projection grating picture based on optimized sine grating parameters; acquiring the grating picture by using the left camera and the light camera after projecting; computing the phase values of all pixels of the left picture and the right picture; correcting the period misplacement between the Gray code values and the phase values by adopting a maximum probability correction method so that the pixel points on the edge of a Gray code period form a correct and complete phase period; and outputting all matching point data after searching corresponding matching points in the left picture and the right picture by adopting a two-step matching method. By the method, the corresponding matching points in the left picture and the right picture can be searched rapidly and accurately, and the precision for searching the corresponding points is improved.
Description
Technical field
The invention belongs to the reverse Engineering Technology field, relate to the solid matching method that a kind of binocular stereo vision is measured.
Background technology
Solid coupling in the binocular stereo vision is meant searches the respective pixel position of the same visible dots of body surface in left and right cameras sampling picture.This is the most complicated in the binocular stereo vision, most important link.Under the environment that camera calibration is mature on the whole, three-dimensional matched accuracy becomes three-dimensional measurement precision most critical, the most direct factor of influencing, and therefore three-dimensional coupling becomes focus, difficult point and the emphasis of stereoscopic vision researcher research both at home and abroad at present.At present, in the solid coupling of binocular stereo vision, the technology such as phase, three-dimensional correction of separating of Gray code grating encoding decoding, sinusoidal grating are fairly perfect and ripe, but it is still not fully up to expectations on accuracy and efficient to search at present the method for matched pixel point in the picture of the left and right sides.For further improving three-dimensional measurement precision and efficient, need research and development to improve the method for coupling accuracy and efficient, this is the problem that the present invention pays close attention to.
On the other hand, Gray code cycle and phase cycling misplace, and will directly influence matching precision, make the three-dimensional data that calculates produce many noise spots or three-dimensional point disappearance.Be head it off, Yin Liping etc. propose to line by line scan each pixel at academic journal " Harbin University of Science and Technology's journal " 2007,12 (5) in the scientific paper that P5-8 delivers " the structural light three-dimensional Research on measuring technique that Gray code combines with phase shift ", and respectively adjacent two pixels are done difference operation relatively, find the position of the pixel of SPA sudden phase anomalies and decoding cycle increase, if sudden change has taken place phase place, and its corresponding decoding periodic quantity does not increase, be k (i, j)=(i j-1), then regulates the decoding periodic quantity to k, make k (i, j)=and k (i, j)+1, if phase value is not undergone mutation, and the increase of decoding periodic quantity is k (i, j)=(i j-1)+1, then regulates the decoding periodic quantity to k, make k (i, j)=(i, j)-1, thereby the variation of guaranteeing decoding cycle and phase cycling is consistent k.This method has obtained calibration result preferably, but because it is engaged in is simulation study, Gray code cycle and phase cycling are proofreaied and correct and are based upon Gray's code value and phase value is found the solution on the right-on basis, and in actual measurement, be subjected to noise, the body surface sensitiveness to light is the influence of equal factor not, be difficult to Gray's code value and phase value are found the solution entirely accurate, if also adopting above method proofreaies and correct, when a very big noise appears suddenly in the centre, causing SPA sudden phase anomalies makes Gray's code value add one, will make follow-up institute have a Gray code value to add one, thereby make follow-up Gray's code value of having a few bigger by one than right value after the cycle proofreaies and correct.Therefore this method can not solve the cycle problem of misalignment fully.
For about corresponding pixel points matched and searched problem in two width of cloth images, owing to image has been carried out three-dimensional correction in advance, only need during coupling to get final product at the identical identical pixel of line direction search phase place absolute value of Y value, after finding a certain match point, utilize the succession principle, the coupling of any is directly searched in this match point subsequent point down, to improve match search speed, traditional direct coupling that Here it is.But in the actual measurement process, because camera sampling in the left and right sides is inconsistent, add the influence of random noise, the match point quantity of utilizing direct coupling to find is few, can only produce sparse discontinuous disparity map.
In sum, the left and right sides image corresponding point matching lookup method measured of traditional double item stereo vision exists that matching efficiency is not high, match point is searched problems such as negligible amounts.
Summary of the invention
The solid matching method that the object of the present invention is to provide a kind of binocular stereo vision to measure to search the corresponding match point in the picture of the left and right sides quickly and accurately, provides basic data for rebuilding three-dimensional data.
The solid matching method that a kind of binocular stereo vision of the present invention is measured comprises following step:
Step 1, to adopt the minimum period be the gray encoding picture of T=16, gathers this gray encoding picture by left and right cameras after the projection, and calculate about this Gray's code value of all pixels in two width of cloth pictures respectively;
Step 2, generate sinusoidal projection grating picture, gather this grating picture by left and right cameras after the projection based on optimizing the sinusoidal grating parameter, and the phase value of all pixels in two width of cloth pictures about calculating;
Described optimization sinusoidal grating parameter is meant:
Formula
In, related parameter values is picture traverse D=1024, pixel period T=16, parameter A=100, B=100;
Step 3, the correction method of employing maximum probability are proofreaied and correct the dislocation of the cycle between Gray's code value and the phase value, make the pixel at Gray code cycle edge constitute a correct and complete phase cycling;
Step 4, adopted about two steps, matching method was searched behind the corresponding match point in two width of cloth pictures, export all match point data.
In the described step 2 according to formula
Adopt parameters optimization to generate the grating picture, utilize image three-dimensional correction function that the grating picture is proofreaied and correct after, extract the gray-scale value I of each pixel in the picture respectively
0, I
1, I
2, I
3, according to following formula
Calculate the phase value in the picture of the left and right sides.
The maximum probability correction method of determining the edge pixel point correct phase cycle in Gray code cycle in the described step 3 is:
1. to picture through registration process, each pixel of lining by line scan, and respectively the phase place main value difference of adjacent two pixels is compared, find SPA sudden phase anomalies point and the mark of two phase place main value absolute difference greater than π, then the pixel between the 2 adjacent SPA sudden phase anomalies points has identical phase cycling; Total M pixel in certain phase cycling wherein has Gray's value of N pixel to be G
i, then Gray's code value of this phase cycling is G
iProbability be (N/M) * 100%;
2. check each phase cycling in each row in the picture, to each phase cycling, compare the probability of its different Grays' values, the Gray code with maximum Gray's code value probability is G, then this phase cycling is G, and the phase place absolute value of pixel wherein just equals G and multiply by 2 π and add the phase place main value.
About searching in the described step 4 in two width of cloth pictures two of corresponding match point the step matching methods be:
1. based on left picture, get each pixel in each row in the left picture, its phase place absolute value is φ, finds out phase place absolute value maximum and smaller or equal to the pixel XR1 of φ from right picture corresponding row, and phase place absolute value minimum and more than or equal to the pixel XR2 of φ;
2. when pixel XR1 is not equal to pixel XR2, according to d=(φ-φ
XR1)/(φ
XR2-φ) the sub-pixel location of match point in the right picture of mode interpolation calculation.
On the basis of Gray code and phase place, the present invention proposes to adopt the sinusoidal grating projection image of optimization, and design methods raising coupling accuracy and matching efficiencies such as maximum probability correction method, two step matching methods, and compare with existing correlation technique, have the following advantages:
(1) can search corresponding match point in the picture of the left and right sides quickly and accurately;
(2) adopt to optimize grating and generate the sinusoidal grating projection image that parameter generates, project body surface by digital projector after, white balance and black balance appear in the picture of can effectively avoiding sampling;
(3) dislocation between Gray code cycle and the phase cycling is corrected in the correction method of employing maximum probability, can effectively solve the problem that is subjected to causing under the equal factor affecting of noise, body surface sensitiveness to light SPA sudden phase anomalies;
(4) adopt two step matching methods to shorten match time greatly, improve the precision of searching corresponding point.
Description of drawings
Fig. 1 is a process flow diagram of the present invention;
Fig. 2 is that the present invention adopts parameter T=32 to generate the three-dimensional point cloud atlas that raster graphic produced;
Fig. 3 is that the present invention adopts parameter T=16 to generate the three-dimensional point cloud atlas that raster graphic produced;
Fig. 4 is that the present invention adopts parameter T=8 to generate the three-dimensional point cloud atlas that raster graphic produced;
Fig. 5 is that the present invention adopts parameter T=16, A=150, and B=50 generates the three-dimensional point cloud atlas that raster graphic produced;
Fig. 6 is that the present invention adopts parameter T=16, and A=B=100 generates the three-dimensional point cloud atlas that raster graphic produced;
Fig. 7 is that the present invention adopts parameter T=16, and A=B=127.5 generates the three-dimensional point cloud atlas that raster graphic produced;
Fig. 8 adopts the correction method of propositions such as Yin Li duckweed to carry out the three-dimensional point cloud atlas that phase cycling is proofreaied and correct the back acquisition;
Fig. 9 is that the present invention adopts the maximum probability correction method to carry out the three-dimensional point cloud atlas that phase cycling is proofreaied and correct the back acquisition;
Figure 10 adopts direct matching method to search the three-dimensional point cloud atlas that generates behind the match point;
Figure 11 is that the present invention adopts two step matching methods to search the three-dimensional point cloud atlas that generates behind the match point.
The invention will be further described below in conjunction with specific embodiment.
Embodiment
As shown in Figure 1, the solid matching method that a kind of binocular stereo vision of the present invention is measured, specifically adopt following step:
Step 1, to adopt the minimum period be the gray encoding picture of T=16, gathers this gray encoding picture by left and right cameras after the projection, and calculate about this Gray's code value of all pixels in two width of cloth pictures respectively;
Step 2, generate sinusoidal projection grating picture, gather this grating picture by left and right cameras after the projection based on optimizing the sinusoidal grating parameter, and the phase value of all pixels in two width of cloth pictures about calculating;
Described optimization sinusoidal grating parameter is meant:
Formula
In, related parameter values is picture traverse D=1024, pixel period T=16, parameter A=100, B=100;
Step 3, the correction method of employing maximum probability are proofreaied and correct the dislocation of the cycle between Gray's code value and the phase value, make the pixel at Gray code cycle edge constitute a correct and complete phase cycling;
The maximum probability correction method in described definite edge pixel point correct phase cycle in Gray code cycle is:
1. to picture through registration process, each pixel of lining by line scan, and respectively the phase place main value difference of adjacent two pixels is compared, find SPA sudden phase anomalies point and the mark of two phase place main value absolute difference greater than π, then the pixel between the 2 adjacent SPA sudden phase anomalies points has identical phase cycling; Total M pixel in certain phase cycling wherein has Gray's value of N pixel to be G
i, then Gray's code value of this phase cycling is G
iProbability be (N/M) * 100%;
2. check each phase cycling in each row in the picture, to each phase cycling, compare the probability of its different Grays' values, the Gray code with maximum Gray's code value probability is G, then this phase cycling is G, and the phase place absolute value of pixel wherein just equals G and multiply by 2 π and add the phase place main value.
Step 4, adopt the corresponding match point in two width of cloth pictures about two steps, matching method was searched, export the match point data that all can be used for calculating three-dimensional point.
About described searching in two width of cloth images two of corresponding match point the step matching methods be:
1. based on left picture, get each pixel in each row in the left picture, its phase place absolute value is φ, finds out phase place absolute value maximum and smaller or equal to the pixel XR1 of φ from right picture corresponding row, and phase place absolute value minimum and more than or equal to the pixel XR2 of φ;
2. when pixel XR1 is not equal to pixel XR2, according to d=(φ-φ
XR1)/(φ
XR2-φ) the sub-pixel location of match point in the right picture of mode interpolation calculation.
Specific embodiment is, at first adopt 6 gray encoding pictures, sample respectively by projector projects and with industrial camera respectively, after proofreading and correct 6 sampling Gray code pictures, the image three-dimensional correction function that utilizes OpenCV to provide carries out binaryzation, then Gray's code value is changed into binary code, the method for transformation most significant digit remains unchanged, and does XOR with last position and this position successively and handles, and at last binary code is changed into decimal code.It is as follows that this Gray's code value changes into the concrete formula of binary code:
According to formula
Adopt parameters optimization to generate the 4 amplitude grating pictures that 4 step phase shifts are used, utilize respectively image three-dimensional correction function that OpenCV provides to about after each 4 sampling grating picture proofreaies and correct, extract the gray-scale value I of each pixel in the picture respectively
0, I
1, I
2, I
3, according to following formula
After finishing the calculating of Gray's code value and phase value, adopt the maximum probability correction method to come the Gray code cycle and the phase cycling dislocation of correction pixels, adopt two step matching methods to obtain the corresponding match point of left and right sides camera picture then, export these match point data and be used to calculate the three-dimensional geometry data.
The gray scale of generation is the gray scale picture of Sine distribution because the sinusoidal grating that generates is just programmed, being subjected to gray-scale value can only be the influence of integer, there is error between the gray scale picture of actual generation and the desirable sinusoidal grating, and the projection after picture, be subjected to the influence of projector sampling and camera sampling again, gray scale difference value is very important between the neighbor, because the gray scale difference between the neighbor is too small, adds that the situation that gray scale equates will appear in the sinusoidal picture after the collection of surround lighting camera; Gray scale is excessive between the neighbor, will form linear straight line in the small region, and the sine influence of offset of sinusoidal grating is also bigger.And fringe period width T is a factor the most direct that influences the sampling of sinusoidal grating gray scale.Test contrast by getting T=32, T=16 and T=8 respectively, three-dimensional point cloud effect shown in Fig. 2-4, from three's three-dimensional point cloud atlas, can see and on the surface of T=32, T=8, all form obvious periodic wave clocklike, this obviously is because the gray scale non-sinusoidal generation in the cycle, and the surface of T=16 significantly better than in addition the two, it is best to determine to get the T=16 effect.For the selection of parameter A, B, carry out three groups of experiments equally: first group, A=160, B=50; Second group, A=100, B=100; The 3rd group, A=127.5, B=127.5.Three-dimensional point cloud effect shown in Fig. 5-7, from three's three-dimensional point cloud atlas, the surface noise that can see first group is obviously than afterwards more than two groups, surface quality is obviously than the two groups of differences in back, the back two groups in from over against the plane, second group of surface smoothness slightly is better than the 3rd group, determines parameter A=100, B=100.
If Gray code cycle and phase cycling misplace, use the correction method of propositions such as Yin Li duckweed to carry out three-dimensional point cloud atlas such as Fig. 8 that phase cycling is proofreaied and correct the back acquisition, after adopting maximum probability correction method of the present invention, the three-dimensional point cloud that generates as shown in Figure 9, comparison diagram 8 and Fig. 9 as can be known, the generation of cycle dislocation can be effectively avoided in the maximum probability correction method.
The two step matching methods of searching corresponding match point in two width of cloth pictures are at first to utilize phase place to form Pixel-level slightly to mate, utilize the match point that has found to carry out interpolation then and form sub-pix, concrete grammar is: 1. based on left picture, get each pixel in each row in the left picture, its phase place absolute value is φ, from right picture corresponding row, find out phase place absolute value maximum and smaller or equal to the pixel XR1 of φ, and phase place absolute value minimum and more than or equal to the pixel XR2 of φ; 2. when XR1 is not equal to XR2, according to d=(φ-φ
XR1)/(φ
XR2-φ) the sub-pixel location of match point in the right picture of mode interpolation calculation.Figure 10 shows that the three-dimensional point cloud atlas that direct coupling back generates, can see clearly that the omission point is arranged; After using two step matching methods of the present invention, the three-dimensional point cloud of generation such as Figure 11, the three-dimensional point density that it comprises is bigger than Figure 10.
The above, it only is preferred embodiment of the present invention, be not that technical scope of the present invention is imposed any restrictions, so every foundation technical spirit of the present invention all still belongs in the scope of technical solution of the present invention any trickle modification, equivalent variations and modification that above embodiment did.
Claims (4)
1. the solid matching method measured of a binocular stereo vision is characterized in that comprising following step:
Step 1, to adopt the minimum period be the gray encoding picture of T=16, gathers this gray encoding picture by left and right cameras after the projection, and calculate about this Gray's code value of all pixels in two width of cloth pictures respectively;
Step 2, generate sinusoidal projection grating picture, gather this grating picture by left and right cameras after the projection based on optimizing the sinusoidal grating parameter, and the phase value of all pixels in two width of cloth pictures about calculating;
Described optimization sinusoidal grating parameter is meant:
Formula
In, related parameter values is picture traverse D=1024, pixel period T=16, parameter A=100, B=100;
Step 3, the correction method of employing maximum probability are proofreaied and correct the dislocation of the cycle between Gray's code value and the phase value, make the pixel at Gray code cycle edge constitute a correct and complete phase cycling;
Step 4, adopted about two steps, matching method was searched behind the corresponding match point in two width of cloth pictures, export all match point data.
2. the solid matching method that a kind of binocular stereo vision according to claim 1 is measured is characterized in that:
In the described step 2 according to formula
Adopt parameters optimization to generate the grating picture, utilize image three-dimensional correction function that the grating picture is proofreaied and correct after, extract the gray-scale value I of each pixel in the picture respectively
0, I
1, I
2, I
3, according to following formula
Calculate the phase value in the picture of the left and right sides.
3. the solid matching method that a kind of binocular stereo vision according to claim 1 is measured is characterized in that the maximum probability correction method of determining the edge pixel point correct phase cycle in Gray code cycle in the described step 3 is:
1. to picture through registration process, each pixel of lining by line scan, and respectively the phase place main value difference of adjacent two pixels is compared, find SPA sudden phase anomalies point and the mark of two phase place main value absolute difference greater than π, then the pixel between the 2 adjacent SPA sudden phase anomalies points has identical phase cycling; Total M pixel in certain phase cycling wherein has Gray's value of N pixel to be G
i, then Gray's code value of this phase cycling is G
iProbability be (N/M) * 100%;
2. check each phase cycling in each row in the picture, to each phase cycling, compare the probability of its different Grays' values, the Gray code with maximum Gray's code value probability is G, then this phase cycling is G, and the phase place absolute value of pixel wherein just equals G and multiply by 2 π and add the phase place main value.
4. the solid matching method that a kind of binocular stereo vision according to claim 1 is measured is characterized in that: about searching in the described step 4 in two width of cloth pictures two of corresponding match point step matching methods be:
1. based on left picture, get each pixel in each row in the left picture, its phase place absolute value is φ, finds out phase place absolute value maximum and smaller or equal to the pixel XR1 of φ from right picture corresponding row, and phase place absolute value minimum and more than or equal to the pixel XR2 of φ;
2. when pixel XR1 is not equal to pixel XR2, according to d=(φ-φ
XR1)/(φ
XR2-φ) the sub-pixel location of match point in the right picture of mode interpolation calculation.
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| CN114234849A (en) * | 2021-12-20 | 2022-03-25 | 广东工业大学 | Three-dimensional measurement method for modulating Gray code information at periodic edge |
| CN114234851B (en) * | 2021-12-20 | 2022-06-17 | 广东工业大学 | Three-dimensional measurement method for modulating binary code at periodic edge |
| CN114863036A (en) * | 2022-07-06 | 2022-08-05 | 深圳市信润富联数字科技有限公司 | Data processing method and device based on structured light, electronic equipment and storage medium |
| CN114863036B (en) * | 2022-07-06 | 2022-11-15 | 深圳市信润富联数字科技有限公司 | Data processing method and device based on structured light, electronic equipment and storage medium |
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